JP3469652B2 - Electronic component mounting device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic component mounting apparatus, and more particularly to improving durability.

[0002]

2. Description of the Related Art Electronic component mounting apparatuses include a device in which a component mounting head is moved to mount an electronic component on a mounting target material such as a printed circuit board. This type of electronic component mounting device includes (a) a device body, (b) a moving body movably supported by the device body, (c) a moving body moving device that moves the moving body, and (d) ) A component mounting head that is mounted on a moving body and mounts an electronic component on a mounting target material such as a printed circuit board; and (e) a component mounting head moving device that includes an actuator and moves the component mounting head with respect to the moving body. Is configured to include.

The electronic component mounting apparatus described in Japanese Patent Laid-Open No. 2-69999 is an example thereof. This electronic component mounting apparatus has a rotary head that is rotatably supported on the main body of the apparatus about a vertical axis, and a plurality of component mounting heads are provided on one circumference around the rotary axis of the rotary head. . The component mounting head has a component suction nozzle that suctions electronic components by vacuum. The component suction nozzle
The mounting head body is rotatably supported downward and rotatable about its own axis, and the rotary head uses an electric motor as a drive source for each of a plurality of component mounting heads and rotates a component suction nozzle about the axis. A rotary drive is provided. Also, on the device body side,
A component supply unit that supplies electronic components, a holding position detection unit that detects the holding position of the electronic components by the component suction nozzles, and a component mounting unit that mounts the electronic components on the printed circuit board are provided.

The plurality of component mounting heads are sequentially moved to the component supply unit, the holding position detecting unit, and the component mounting unit by the rotation of the rotary head, suck the electronic components, and after the holding positions are detected, the electronic components are mounted. Mount on the printed circuit board. After detecting the holding position, the holding position errors Δx and Δy of the electronic component in the horizontal plane by the component suction nozzle and the rotational position error Δθ around the axis are calculated, and the component suction head is moved until the component mounting head moves to the component mounting portion. The nozzle is rotated and the rotational position error Δθ is corrected. When the electric motor is provided on the rotating rotary head in this manner, it is possible to supply the electric energy of the power source fixedly provided on the apparatus main body side to the electric motor regardless of the rotation phase of the rotary head. is necessary. JP-A-2-69999
The publication does not describe how to supply this electric energy, but it is usually performed using a slip ring. A metal ring is attached to the rotary head, and a brush fixedly provided on the apparatus main body is brought into contact with the metal ring to supply electric energy. Slip rings are provided for each electric motor. Is supplied with electrical energy.

[0005]

However, the slip ring supplies electric energy by the contact of the brush with the metal ring that rotates together with the rotating body, and has the problems of low durability and short life. This problem also occurs in an electronic component mounting apparatus in which a moving body is reciprocally moved along a straight line or a curved line. This is because when the moving body is provided with an electric actuator that operates by electric energy, it is necessary to supply the electric energy regardless of the relative position between the moving body and the apparatus main body.

The present invention provides a component mounting head moving device for moving a component mounting head on a moving body with respect to the moving body,
An object of the present invention is to provide a highly durable electronic component mounting apparatus that includes an electric actuator related to the component mounting head, such as a negative pressure supply control device that controls the supply and interruption of negative pressure to the component suction nozzle of the component mounting head. It was done.

[0007]

The electronic component mounting apparatus according to the present invention comprises: (a) the apparatus main body, (b) the moving body, (c) the moving body moving apparatus, (d) the component mounting head, and ( e) A component mounting head rotation drive device that includes an actuator and rotates the component mounting head about its axis, a component mounting head advancing / retreating device that advances and retracts the component mounting head in a direction parallel to the axis, and a component suction nozzle of the component mounting head. A negative pressure supply control device for controlling the supply and cutoff of negative pressure to and from at least one component suction nozzle selection device for selecting one of a plurality of component suction nozzles attached to the component mounting head. An electronic component mounting device, wherein at least two or more of the actuators are electric actuators operated by electric energy,
Each of those two or more electric actuators and their
Each of the actuator control devices for controlling each is mounted on the moving body, a power source is fixedly provided to the device body, and electric energy of the power source is provided between the device body and the moving body. One contactless power supply device for supplying each of the actuator control devices in a contactless manner, and between the electronic component mounting device control device fixed to the device body and the actuator control device. One contactless information transmitting device for transmitting information necessary for controlling each electric actuator in a contactless manner is provided , and in each control of the electric actuator,
The electronic component mounting control device controls which one of them.
A destination signal indicating that the
Each of the data control devices has its own unique destination signal.
By being in the receiving state only when it is a thing,
Each of the electric actuators can be individually controlled.
It is characterized in that it was. In addition,
The child component mounting device supplies the power source to the contactless information transmission device.
Of the contactless power feeding device fed back through the
A state in which a control means for controlling based on the voltage on the power supply side is provided
It is also possible to carry out. What is an electric actuator?
For example, it is an electric drive source such as an electric motor or a solenoid of a solenoid valve. Further, here, “at least two or more” means that even when there are two or more devices of the same type and two or more electric actuators, there are at least one or more devices of different types and two electric actuators.
Including cases where there are more than one.

[0008]

[0009]

[0010]

In the electronic component mounting apparatus according to the present invention , electric energy is supplied to the two or more electric actuators provided on the moving body by the non-contact power feeding device.
Electric energy is commonly supplied to two or more electric actuators, but an actuator control device provided for each electric actuator controls the electric energy based on the information supplied by the contactless information transmission device. Operate the electric actuator. 1
Two or more electric actuators with one contactless power supply
Electrical energy is supplied to the computer, and one contactless information
Two or more actuator control devices depending on the transmission device
Information is transmitted to. That is, multiple electric actuators
A common contactless power supply device is provided for
Contactless information common to several actuator controllers
The transmission device is provided. And one nothing
The control command information by the contact information transmission device includes each
The destination signal that indicates which of the actuators to control is
Each actuator based on its destination signal included
Controlled. By adopting such a control method
One contactless power supply device and one contactless information transmission
Control device enables control of multiple actuators.
It Also, based on the voltage on the power receiving side of the contactless power supply,
Feedback control of the power supply allows multiple actuators.
It is possible to cope with a change in the number of simultaneously operating data.

[0011]

[0012]

[0013]

As described above, according to the present invention , electric energy is supplied to the actuator control device of two or more electric actuators provided on the moving body by the contactless power supply device, and control information is supplied by the contactless information transmission device. Is supplied, an electronic component mounting apparatus having a long life can be obtained without causing a durability problem as in the case of supplying electric energy using a slip ring. Also, multiple electric actuators
A common contactless power supply device is provided for the chute,
In addition, there is no common
Since the contact information transmission device is provided, the device cost
Can be reduced.

[0014]

[0015]

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment common to the present invention will be described below in detail with reference to the drawings. In FIG. 1, reference numeral 10 denotes a cylindrical cam, which is fixed to a frame (not shown) as a main body of the apparatus. On the outside of the cylindrical cam 10, a large-diameter driven gear 12 is provided.
Is rotatably supported around the center line of the cylindrical cam 10 via a bearing 14. The driven gear 12 is meshed with a drive gear 18 rotated by an index servomotor 16 supported by the frame, and is intermittently rotated by 18 degrees by the index servomotor 16.

A cylindrical index rotor 22 is concentrically fixed to the lower surface of the driven gear 12. The index rotor 22 is fitted on the outside of the cylindrical cam 10 and, as schematically shown in FIG.
Twenty sets of component mounting units 24 are mounted at equal angular intervals on one circumference around the rotation axis of 2, and there are 20 stations for stopping these 20 sets of component mounting units 24.

Of the 20 stations, three are operating stations in which the component mounting unit 24 is operated,
That is, the parts supply station, the parts mounting station, and the parts discharging station. Further, four are detection stations, namely, a component standing posture detection station, a component holding posture detection station, a component suction nozzle detection station, and a component suction nozzle confirmation station. The 20 sets of component mounting units 24 are sequentially moved to 20 stations by the intermittent rotation of the index rotor 22.

The component suction station is provided with an electronic component supply device (not shown). The electronic component supply device is provided with a movable table that is movable in a direction parallel to the direction in which the rotation path of the index rotor 22 is in contact (this direction is the X-axis direction), and the movable table moves on the movable table. One of the plurality of component supply cartridges is moved to the component supply position by having the plurality of component supply cartridges arranged in the direction and moving the moving table by the moving table moving device.

The component supply cartridge holds an electronic component on a component holding tape and supplies it as a taped electronic component. The component feeding tape is driven by an air cylinder as a drive source so that the component holding tape is in the X-axis direction in the horizontal plane. At least one of which has been sent in the Y-axis direction orthogonal to
Among the individual electronic components, the leading electronic component is positioned at the electronic component extraction position.

As shown in FIG. 2, the component mounting station is provided with a printed circuit board moving device 32 that supports the printed circuit board 30 as a mounting target material and moves it in the X-axis direction and the Y-axis direction. Printed circuit board moving device 32
The X-axis table 34 is guided by a guide rail 44 and moved in the X-axis direction by an X-axis moving device 42 including an X-axis servomotor 36, a ball screw 38, a nut 40 and the like.

On the X-axis table 34, the Y-axis table 4
8 is mounted so as to be movable in the Y-axis direction, and is moved in the Y-axis direction by being guided by a guide rail (not shown) by a Y-axis moving device 54 composed of a Y-axis servomotor 50, a ball screw 52 and the like. On the Y-axis table 48, although not shown, a substrate support elevating device for adsorbing and supporting the printed circuit board 30 and lifting it from the substrate conveyor is provided. The substrate conveyor conveys the printed substrate in the X-axis direction, and the printed substrate 30 supported by the substrate support lifting device is an arbitrary combination within the horizontal plane due to the combination of the movement of the X-axis table 34 and the Y-axis table 48. Be moved to a position.

The printed circuit board moving device 32 is provided at a position lower than that of the electronic component supply device. The board supporting and elevating device is provided at a height such that the board supporting surface supports the printed circuit board 30 and can be digged into the lower side of the component supply cartridge. Therefore, the printed circuit board moving device 32 can be provided so as to overlap the electronic component mounting device in the horizontal direction, and the electronic component mounting device can be made compact.

Each of the 20 sets of component mounting units 24 is attached to the index rotor 22 by a support member 60, as shown in FIG. The support member 60 has a long plate-shaped guided portion 62, and
2 are fitted to a pair of guide members 64 provided at a distance in the vertical direction on the outer peripheral surface of the index rotor 22 via bearings (not shown), and are aligned horizontally with respect to the index rotor 22 (in a plane perpendicular to the rotation center line of the index rotor 22). ) Is supported so that it can be raised and lowered while preventing relative movement.

A pair of rollers 66 as cam followers are attached between the portions of the guided portion 62 fitted to the pair of guide members 64. These rollers 66
The shaft is fitted into a roller support plate 68 fixed to the guided portion 62, and the shaft roller support plate 68 and the support member 6 are provided.
A nut 70 is screwed into an end portion through which 0 passes, and the roller 66 is attached to the guided portion 62 so as to be rotatable around an axis line orthogonal to the rotation axis line of the index rotor 22 and arranged in the vertical direction. .

An elongated hole 72 extending in the vertical direction is provided on the peripheral wall of the index rotor 22, a roller support plate 68 is provided in the elongated hole 72 so as to be relatively movable in the vertical direction, and a roller 66 is provided on the cylindrical cam 10. Cam groove 7 formed on the outer peripheral surface
6 is rotatably fitted. The height of the cam groove 76 is gradually changed in the circumferential direction, and when the index rotor 22 is rotated and the component mounting unit 24 is moved, the roller 66 moves in the cam groove 76 to move the component. The mounting unit 24 is moved up and down.
The cam groove 76 is formed so that the component mounting unit 24 is located at the rising end at the component supply station and at the descending end at the component mounting station.

Each of the 20 sets of component mounting units 24 has a component mounting head 80 and a Z-axis / θ-axis drive motor 84 for raising and lowering the component mounting head 80 and rotating it about a vertical axis. The Z-axis / θ-axis motor 84 has the configuration shown in FIG. Both AC servo motor (brushless D
The upper Z-axis servo motor 86, which is a C-servo motor), and the lower θ-axis servo motor 88 are integrated, and the housing 92 includes a housing 92 shown in FIGS.
As shown in FIG.
It is fixed on the upper arm portion 91 of the first.

First, the Z-axis servomotor 86 will be described. As shown in FIG. 6, a nut 94 is supported on the upper part of the housing 92 via bearings 96 and 98 so as to be rotatable about a vertical axis, and a ball screw 100 is screwed. At the lower end of the ball screw 100, a bottomed cylindrical bearing holder 102 is integrally provided. A spline 104 is formed on the outer peripheral surface of the bearing holder 102,
This is the spline hole 106 formed in the housing 92.
The rotation of the ball screw 100 is prevented by being fitted in. The bearing holder 102 will be described later.
A permanent magnet 108 is fixed to the outer peripheral portion of the nut 94 so that A
A rotor 109 of the C servo motor is configured. The permanent magnet 108 has a cylindrical shape in which N poles and S poles are alternately arranged in the circumferential direction.

In the housing 92, the stator core 11
0 is set. The stator core 110 has a plurality of coils 114 housed in a laminated core 112.
In this embodiment, it is configured to be driven by three phases. A servo driver (not shown) is connected to the coils 114 by a conductive wire 116, and the rotor 109 is controlled by controlling the current to the coils 114 by the servo driver.
The rotation position of the nut 94 and the nut 94 is controlled, and the ball screw 1
The axial position of 00 is controlled.

Z is provided between the nut 94 and the housing 92.
A shaft detector 118 is provided and detects the position of the nut 94. This detection result is used as operation information of the Z-axis servo motor 86 as actuator control circuit 312 (FIG. 8) described later.
The actuator control circuit 312 controls the rotation of the nut 94 by controlling the supply current to the coil 114 based on this operation information and the command information from the machine controller 310 described later. Although this control will be described later, the nut 94 is rotated in both forward and reverse directions at a predetermined speed by a predetermined angle.

Next, the θ-axis servomotor 88 will be described. A ball spline member 120 is supported by bearings 122 and 124 at the lower part of the housing 92, and the ball screw 1
It is rotatably housed concentrically with 00. A spline shaft 126 is fitted to the ball spline member 120, and the rotation of the ball spline member 120 is transmitted to the spline shaft 126.

A permanent magnet 128 similar to the permanent magnet 108 is fixed to the outer peripheral surface of the ball spline member 120 to form a rotor 129. Like the stator core 110, the housing 92 is provided with a stator core 134 in which a coil 132 is housed in a laminated core 130, and is driven in three phases. Conductive wire 1 for coil 132
A servo driver (not shown) is connected by 35, and the current to the coil 132 is also controlled by the machine controller 31.
The actuator control circuit 312 controls the rotational position of the ball spline member 120 based on the command information from 0 and the operation information from the θ-axis detector 136, thereby controlling the rotational position of the spline shaft 126. It

A radially outward flange portion 138 is provided on the upper portion of the spline shaft 126, and the bearing holding portion 1 is provided.
It is fitted with 02. Bearings 140 and 142 are arranged on the upper side and the lower side of the flange portion 138, respectively, and the lid body 144 is screwed into the opening portion of the bearing holding portion 102, so that the flange portion 138 moves the bearing portions 140 and 14 to each other.
The ball screw 100 and the spline shaft 126 are connected to each other through the bearing holding portion 102 via the shaft 2 and the spline shaft 126 such that the ball screw 100 and the spline shaft 126 cannot rotate relative to each other. The bearing holding portion 102, the flange portion 138, the bearings 140 and 142, and the lid body 144 constitute the coupling device 146. Therefore, the ball screw 100 and the spline shaft 126 are integrally moved up and down by the operation of the Z-axis servomotor 84, and the spline shaft 1 is operated by the operation of the θ-axis servomotor 86.
26 is rotated relative to the ball screw 100. If the coils 114 and 132 are separately energized, the lifting and rotation are caused separately, and if the coils 114 and 132 are energized at the same time, the raising and lowering and rotation are caused at the same time. The spline shaft 126
Has a length that does not separate from the ball spline member 120 when the component mounting head 80 moves up and down.

Ball screw 100 and spline shaft 12
Passages 160 and 162 are formed in the center of 6 respectively so as to penetrate in the axial direction. The upper end of the joint pipe 164 is sealed by a seal member 166 in the lower opening of the passage 160 so as to be relatively rotatable, and the lower end is press-fitted into the upper opening of the passage 162.

The passage 160 includes the joint member 168 and the hose 1.
It is connected to the rotary joint 172 by 70. As shown in FIG. 1, the cylindrical cam 10 is provided with a shaft 178 penetrating an upper plate 174 closing the upper opening of the cylindrical cam 10 and a lower plate 176 closing the lower opening. A negative pressure supply passage 179 (see FIG. 11) is formed in the shaft 178, and the joint member 180 and the hose 1 provided at the upper end portion are formed.
It is connected via 82 to a negative pressure source (not shown). The rotary joint 172 is attached to the lower end of the shaft 178 so as to be relatively rotatable, and the rotation of the index rotor 22 causes the shaft 178 to rotate.
Even if the rotation phase with respect to is changed, it is always maintained in a state of communicating with the negative pressure supply passage.

The hose 170 connects one of the 20 air outlets 184 (see FIG. 11) formed in the rotary joint 172 with the passage 160, and an electromagnetic directional control valve is provided in the middle of the hose 170. 186 is provided, and the passages 160 and 162 are switched by switching the electromagnetic directional control valve 186.
Is selectively communicated with the negative pressure source and the atmosphere. Although the electromagnetic directional control valve 186 is illustrated as being separated from the index rotor 22 for the sake of convenience, in reality, the index rotor 2 is shown.
It is fixed at 2.

A mounting member 190 to which the component mounting head 80 is mounted is detachably fixed to the lower end of the spline shaft 126. As shown in FIGS. 4 and 5, a passage 194 is formed in the mounting member 190 so as to penetrate therethrough on the axis. The mounting member 190 has an upper end portion of the passage 194 protruding from the lower end surface of the spline shaft 126. Fitting part 196
The spline shaft 126 is integrally coupled to the spline shaft 126 by a coupling member 198 in a state of being fitted to the spline shaft 126.

The connecting member 198 has a C-shaped fitting portion 2
00 and the arm portions 202 protruding from the pair of end portions of the fitting portion 200, respectively. The fitting portion 200 is fitted over the spline shaft 126 and the mounting member 190, and the pair of arm portions is provided. 202 is connected by a screw 204 to integrally connect the spline shaft 126 and the mounting member 190.

As shown in FIGS. 1 and 4, the mounting member 190 includes a pair of arm portions 91 provided on the support member 60.
Among them, the lower arm portion 91 is fitted via a bearing 208 so as to be able to move up and down and rotate. A U-shaped support member 210 is attached to a lower end portion of the mounting member 190 protruding from the arm portion 91.
Is fixed, and a component mounting head 80 is attached to the component mounting head 80.

As shown in FIG. 4, the component mounting head 80 has a nozzle holder 218 and six component suction nozzles 220 held by the nozzle holder 218. A shaft portion 222 is formed on one end surface of the nozzle holder 218, and is fitted to one side wall 223 of the U-shape of the support member 210 so as to be rotatable about a horizontal axis. Further, a shaft 226 is fitted in a bottomed hole 224 that is opened at the other end surface of the nozzle holder 218 and is concentric with the shaft portion 222 so as to be relatively rotatable. The shaft 226 is fixed to the other side wall 223 of the support member 210, and the nozzle holder 218 is attached.
Is supported by a shaft 222 and a shaft 226 so as to be rotatable about a horizontal axis.

In the nozzle holder 218, six nozzle fitting holes 230 are formed radially about the rotation axis of the nozzle holder 218 and at equal angular intervals, and the component suction nozzles 220 are fitted in them. Has been done. The component suction nozzle 220 includes a suction pipe holder 232 and a suction pipe holder 23.
The suction tube holder 232 is provided with a light emitting plate 236.

The light emitting plate 236 absorbs the ultraviolet ray from the ultraviolet ray irradiating device of the image pickup device provided in the component holding posture detecting station and emits a visible ray. The suction tube 234 and the light emitting plate 236 are sized according to the size of the electronic component 238 to be suctioned, and as shown in FIG. 7, the six component suction nozzles 220 held by the nozzle holder 218 are respectively large. Electronic components 238 of different sizes
The suction tube 234 has different diameters in six stages, and the light emitting plate 236 has different sizes in two stages.

The component suction nozzle 220 is the suction pipe holder 2
A spring 24 fitted in the nozzle fitting hole 230 at 32 and arranged in the nozzle fitting hole 230
It is urged by 0 in a direction projecting from the nozzle fitting hole 230. A pin 242 is fitted in the suction pipe holder 232 in the diametrical direction.
Nozzle holder 218 of the component suction nozzle 230 by being engaged with the pin engaging groove 244 formed in
It is prevented from falling off and is prevented from rotating.

Although not shown in detail, the pin engagement groove 244 has a J-shape and a suction opening which is open to the tip and side surfaces of the nozzle holder 218 and communicates with the nozzle fitting hole 230. When fitting the pipe holder 232 into the nozzle fitting hole 230, the pin 242 fits into the pin engaging groove 244,
After the suction pipe holder 232 is fitted and rotated, if the force applied to the suction pipe holder 232 is released, the suction pipe holder 232 is biased by the spring 240 and
The pin 242 engages with the end surface of the pin engagement groove 244, and the component suction nozzle 220 is held by the nozzle holder 218 so that it cannot be pulled out and cannot rotate.

The component suction nozzle 220 sucks the electronic component 238 by negative pressure, and the negative pressure is supplied through the following route. A shaft 226 that rotatably supports the nozzle holder 218 is formed with an axial passage 250 that opens to an end surface and extends to a position corresponding to the shaft portion 222, and extends at a right angle and downward from the axial passage 250. An extending radial passage 252 is formed. Axial passage 25
0 is a passage 194 formed in the mounting member 190 by a plurality of radial passages 254 formed in the shaft portion 222 of the nozzle holder 218, an annular passage 256 formed in the support member 210, and a passage 258. The negative pressure source and the atmosphere are selectively communicated with each other by switching the electromagnetic directional control valve 186.

The nozzle holder 218 is rotated by a nozzle selection servomotor 260 attached to the support member 210. Nozzle selection servomotor 260 has Z axis
Like the θ-axis drive motor 84, it is a brushless servomotor, is attached to the support member 210 concentrically with the rotation axis of the nozzle holder 218, and the output shaft 262 is spline-fitted to the shaft portion 222 of the nozzle holder 218. There is. The nozzle holder 218 is a nozzle selection servomotor 26.
It is rotated by 0, and the six component suction nozzles 200 are selectively moved to the component suction position, that is, the position where the opening of the suction pipe 234 faces downward. Nozzle fitting hole 230 of the component suction nozzle 220 moved to the component suction position
Are communicated with the radial passage 252 formed in the shaft 226, and the electronic component 238 can be adsorbed by the supply of negative pressure.

As described above, the support member 210 has the Z-axis.theta.
It is rotated by the shaft drive motor 84. Since the maximum value of this rotation angle is approximately 180 degrees, the drive current to the nozzle selection servomotor 260 is supplied by a conductive wire (not shown). The drive current to the conductive wire is controlled by a nozzle selection servomotor controller 302, which will be described later, mounted on the index rotor 22.

The rotational position of the nozzle holder 218 is determined by the six notches 270 formed on the nozzle holder 218 and the positioning tool 272 provided on the support member 210. The notch 270 is a V groove formed on the end surface of the nozzle holder 218 so as to extend radially from the rotation center line of the nozzle holder 218. Main body 2 of positioning tool 272
Reference numeral 74 denotes a male screw member having a hole with a bottom in the center, which is screwed into the side wall 223 of the support member 210 and fixed by a lock nut 276, and the position in the axial direction can be adjusted. The bottomed hole of the male screw member is the nozzle holder 21.
8 is open to the end face on the side opposite to 8, and a ball 278 is arranged at the open end so that a part of the ball 278 is exposed to the outside and detachment from the male screw member is prevented. Is urged in the protruding direction by the compression coil spring. The nozzle holder 218 is positioned by fitting the ball 278 into the notch 270. The notch 270 and the positioning tool 272 are 6
The ball 278 is provided at a position to be fitted into the notch 270 in a state where one of the component suction nozzles 220 is positioned at the component suction position.

The rotation of the nozzle selection servomotor 260 is
It is detected by the nozzle selection detector 280. The nozzle selection detector 280 is also similar to the Z-axis detector 118 and the θ-axis detector 136, and the actuator control circuit 312 uses the nozzle selection servo based on the operation information and the command information from the machine controller 310. By controlling the rotation of the motor 260, the optional component suction nozzle 220 is positioned at the component suction position.

A plate 290 is fixed to the side surface of the nozzle holder 218 opposite to the side where the shaft 222 is projected. The plate 290 contacts the side wall 223 of the supporting member 210 to prevent the nozzle holder 218 from moving in a direction parallel to the rotation center line, and the portion of the shaft 226 between the nozzle holder 218 and the side wall 223 is prevented. It is fitted so that relative rotation is possible. On the end surface of the plate 290 opposite to the side fixed to the nozzle holder 218, although not shown, six sets of three reflecting surfaces are provided at equal angular intervals. Each of these reflecting surfaces is white or black, but the combination is changed for each set. These six sets of reflecting surfaces are each provided with six component suction nozzles 220 with respect to the rotation direction of the nozzle holder 218.
Is provided at a position corresponding to.

Each of the component suction nozzle detection station and the component suction nozzle confirmation station is provided with a component suction nozzle detection device (not shown). The component suction nozzle detection device includes three optical fiber sensors each having a light emitting fiber and a light receiving fiber.
These optical fiber sensors are arranged in a line in a substantially horizontal direction, and irradiate light onto the reflecting surfaces of the component mounting heads 80 moved to the component suction nozzle detection station or the component suction nozzle confirmation station, respectively. By the combination of strength and weakness, 3-bit component suction nozzle data representing the type of the component suction nozzle 220 positioned at the component suction position is generated.

On the index rotor 22, for each of the 20 sets of component mounting units 24, as conceptually shown in FIG. 8, a Z-axis servomotor 86, a θ-axis servomotor 88, a nozzle selection servomotor 260 and an electromagnetic motor. A Z-axis servo motor control device 300, a θ-axis servo motor control device 301, a nozzle selection servo motor control device 302, and a switching valve control device 304, which respectively control the direction switching valve 186, are provided. These four types of control devices 3
00, 301, 302, 304 respectively receive electric energy supplied from a communication unit S that receives and transmits information necessary for control and a power source 306 (see FIG. 9) fixedly provided in the frame. It has a control drive unit C that controls based on the control information transmitted to the communication unit S and controls the Z-axis servo motor 86, the θ-axis servo motor 88, the nozzle selection servo motor 260, and the electromagnetic direction switching valve 186.

For each of the 20 sets of component mounting units 24, control devices 300, 301, 302, 304.
To distinguish the communication portion S and the control drive station C, a communication unit S of the Z-axis servo-motor controller 300 ZS ₁ ~ZS
₂₀ , the control drive unit C is ZC ₁ to ZC ₂₀ , the communication unit S of the θ-axis servo motor control device 301 is θS _{1 to} θS ₂₀ , the control drive unit C is θC _{1 to} θC ₂₀ , and the nozzle selection servomotor control device 302 The communication unit S is NS ₁ to NS ₂₀ , and the control drive unit is N
C _{1 to} NC ₂₀ , the communication unit S of the switching valve control device 304 is VS
_{1 to} VS ₂₀ , and the control drive unit is represented as VC ₁ to VC ₂₀ . Further, in FIG. 8, Z represents the Z-axis servo motor 86, θ represents the θ-axis servo motor 88, N represents the nozzle selection servo motor 260, and V represents the electromagnetic directional control valve 18.
6, D ₁₁₈ , D ₁₃₆ , and D ₂₈₀ are the Z-axis detector 118, the θ-axis detector 136, and the nozzle selection detector 280, respectively.
Represents

The frame includes an electronic component supply device and an electronic section.
Electronic parts such as product mounting device and printed circuit board moving device 32
All about mounting the product 238 on the printed circuit board 30
A machine controller 310 for controlling the device is provided
There is. The machine controller 310 is mainly a computer
Via each control circuit (not shown)
Electronic component supply device, electronic component mounting device, and print substrate
It controls each actuator of the plate moving device 32.
Mounted on the index rotor 22 of the control circuit
Remove only the part that controls the actuator
The actuator control circuit 312 is used. Machine
The controller 310 is connected to the actuator control circuit 312,
Each Z-axis / θ-axis drive mode for 20 sets of component mounting units 24
84, nozzle selection servo motor 260, electromagnetic direction switching
The command information for controlling the valve 186 is given, and this command information is
The information is the bidirectional serial high-speed communication unit 3 of the communication control unit 314.
26 to the communication unit ZS by the contactless information transmission device 316.₁ 
~ ZS₂₀, Communication unit θS₁ ~ ΘS₂₀, Communications department NS₁ ~ NS
₂₀, Communication unit VS₁ ~ VS₂₀Transmitted to.

FIG. 9 shows a control circuit of the Z-axis servomotor 86. However, in FIG. 9, in order to avoid complication, the communication control unit 314 and the Z-axis servo motor control device 30 are shown.
The communication unit ZS of 0 is omitted. In addition, the θ-axis servo motor 8
6 and the control circuit of the nozzle selection servomotor 260 are the same, and therefore illustration and description thereof are omitted. The actuator control circuit 312 has a position amplifier 320, a speed amplifier 322, and a differentiator 324. To the position amplifier 320, a command signal in which digital data which is command information from the machine controller 310 is converted into an analog signal and an operation signal which is operation information from the Z-axis detector 118 are input. In the speed amplifier 322, the output signal of the position amplifier 320 and the differentiator 324 are connected to the Z-axis detector 11
A control signal obtained by differentiating the output signal of 8 is input. Position amplifier 320 and speed amplifier 322
Produces a torque command signal from the command signal and the values indicated by the fed back operation signal and control signal. This torque command signal is applied to the fixed side communication coil 344 described later.
And a non-contact information transmission device 316 including a rotation side communication coil 358 (see FIG. 11), and is supplied to the Z-axis servo motor control device 300 on the index rotor 22.

On the other hand, the drive current of the Z-axis servomotor 86 is (actually, the θ-axis servomotor 88, the electromagnetic directional control valve 18
6 and the drive current of the nozzle selection servomotor 260) are supplied from the power source 306 to the voltage controller 331 on the index rotor 22 via the high frequency induction power generation controller 328 and the contactless power supply device 330. As shown in FIG. 1, the contactless power feeding device 330 includes a power feeder 332 attached to the cylindrical cam 10 and a power receiver 334 attached to the index rotor 22. As shown in FIG. 11, the lower plate 176 fixed to the lower opening of the cylindrical cam 10 is formed with an opening 335 centered on the center line of the cylindrical cam 10 and at the lower surface of the lower plate 176. Is a holding cylinder 33 having a circular cross section concentric with the cylindrical cam 10.
6 is fixed. The upper opening of the holding cylinder 336 is closed by a lid plate 338 arranged in the opening 335, and an annular support plate 339 is fixed to the lower opening. The holding cylinder 336, the cover plate 338, and the support plate 339 function as an integral power feeder housing after assembly, and FIG.
In, these are drawn as one body.

The feeding side coil 3 is provided on the inner peripheral surface of the holding cylinder 336.
40 is attached, and the power source 306 is provided by the conductive wire 342.
It is connected to the. A ring-shaped fixed-side communication coil 344 is provided on the lower surface of the support plate 339 with the center line of the cylindrical cam 10 as the center, and is connected to the bidirectional serial high-speed communication unit 326 by a signal line 346. .

The holder 350 is fixed to the lower surface of the index rotor 22 and covers the lower opening of the index rotor 22.
It is fixed concentrically with 2. The holding body 350 has a large-diameter mounting portion 351 and a shaft portion 352 protruding from the mounting portion 351, and is fixed on the cover plate 348 at the mounting portion 351. The shaft portion 352 is fixed by the holding cylinder 336. It is rotatably supported around the rotation center line of the index rotor 22 via a pair of bearings 353.

A power receiving side coil 354 is attached to the shaft portion 352, and is opposed to the power feeding side coil 340 with a minute gap. The electric energy transmitted from the power feeding side coil 340 to the power receiving side coil 354 is controlled by the conductive wire 356 connected to the power receiving side coil 354, and each Z-axis servo motor 86 and the θ-axis servo motor 88 of the 20 sets of component mounting units 24 are connected. , Electromagnetic direction switching valve 186 and nozzle selection servomotor 260.

A ring is attached to the mounting portion 351 of the holder 350.
-Shaped rotating side communication coil 358 is an index table
Attached around the center line of rotation of 22, and fixed
When facing the side communication coil 344 with a minute gap,
Has been. The rotation side communication coil 358 is connected to the signal line 3
59, the communication unit ZS₁ ~ ZS₂₀, Communication unit θS ₁ 
~ ΘS₂₀, Communications department NS₁ ~ NS₂₀, Communication unit VS₁ ~ VS
₂₀It is connected to the. The rotary joint 172 is a cover plate 350.
The shaft 178 extends through the holder 350.
It can be passed through and can rotate relative to the rotary joint 172
Is fitted to.

The power feeding side coil 340 of the power feeder 332 is subjected to high frequency excitation. The voltage of the power supply 306 is as shown in FIGS.
As shown in FIG. 3, the transistor switch 362 forming the high frequency induction power generation controller 328 forms a high frequency wave, and the power feeding side coil 340 and the power receiving device 33 of the power feeding device 332.
The rectangular wave (or sine wave) voltage corresponding to the winding ratio of the power receiving side coil 354 of No. 4 is generated in the power receiving side coil 354. This voltage is full-wave rectified by the LC filter including the high frequency diode bridge 366 forming the rectifying circuit 364, the reactor L, and the smoothing capacitor C, which is provided in the index rotor 22, and is the main DC current that is the drive current of the actuator on the index rotor 22. It becomes an electric current. The index rotor 22 is also provided with a voltage stability converter 368 which is a regulator for stabilizing a part of the DC main current. The rectifier circuit 364 and the voltage stability converter 368 form the voltage controller 331 shown in FIG.

In the electromagnetic directional control valve 186, an excitation command signal generated on the frame side based on the excitation command from the machine controller 310 is supplied to the index rotor 22 side via the non-contact information transmission device 316, and then to the index rotor 22 side. Accordingly, the switch on the index rotor 22 (which may be a non-contact switch or a contact switch) is only excited by being closed, so that the configuration of the control circuit is simple. Therefore, the Z-axis servo motor 86, the θ-axis servo motor 88, and the nozzle selection servo motor 260 are mainly used.
The control will be described in detail.

The above-mentioned four types, a total of 80 drive control units ZC,
Of the θC, NC and VC, the drive control units ZC, θC and NC of the 60 servomotors are respectively provided with the power switch 380, the current amplifier 382 and the current command generator 384 shown in FIG. A circuit for the Z-axis servo motor 86 is shown in FIG. 9, but the current command generator 384 receives the torque command signal transmitted by the non-contact information transmission device 316 and the Z-axis detector 118. A current command signal is created from the phase signal indicating the magnetic pole position of the Z-axis servo motor 86 and is output to the current amplifier 382. The current amplifier 382 also includes a Z-axis servo motor 86.
The current supplied to the power switch 380 is fed back, amplified by the difference between the current command signal and the detected current signal, and output to the power switch 380 in the form of a PWM modulation waveform by comparison with the triangular wave.

The power switch 380 is composed of a power transistor, MOSFET, IGBT, etc., and the output signal of the current amplifier 382 becomes the input signal of the base (or gate) drive amplifier of the power switch 380. The current amplifier 382 includes the voltage stable converter 36.
8, the power switch 380 modulates the DC main current supplied by the rectifier circuit 364 in accordance with the base drive signal that is the output signal of the current amplifier 382, and the torque command signal. And a PWM voltage such that the feedback signal matches the feedback signal is supplied to the Z-axis servomotor 86.

In the above description, in order to avoid complication, the communication controller 314 on the frame side, the Z-axis servo motor controller 300, the θ-axis servo motor controller 301, and the nozzle selection servo motor on the index rotor 22 side. Although the communication units ZS, θS, NS of the control device 302 are omitted, they will be described below.

In the bidirectional serial high speed communication unit 326, a high frequency carrier wave is modulated (amplitude modulation, frequency modulation, phase modulation, etc.) by an analog signal to be transmitted. If the carrier wave is a periodic pulse train, pulse amplitude and pulse width are used. , The pulse repetition frequency is changed), and the communication unit Z
Demodulation is performed in S, θS, and NS.

Further, the torque command signal, which is a command signal from the actuator control circuit 312, and the feedback signal from the index rotor 22 side are separately transmitted / received to / from 60 actuators of three types mounted on the index rotor 22. However, the excitation command signals of the 20 electromagnetic directional control valves 186 also need to be transmitted and received separately, but the contactless information transmission device 316 is shared, and the bidirectional serial high-speed communication of the communication control unit 314 is performed. Part 32
6 through. Therefore, the communication control unit 314 on the frame side has 80 communication units ZS _{1 to} ZS ₂₀ , θS _{1 to} θS ₂₀ , NS _{1 to} NS ₂₀ , V on the index rotor 22 side.
S _{1 to} VS ₂₀ (hereinafter, 80 communication units ZS, θS, N
S, VS) (abbreviated as S, VS).
Each of the communication units ZS, θS, NS, and VS enters the receiving state only when the destination signal is a signal unique to itself, and the communication control unit 314 outputs a receivable signal indicating that reception is possible.
Return to. The communication control unit 314 transmits a torque command signal and an excitation signal according to the receivable signal, and the 80 communication units Z
Among S, θS, NS, and VS, those in the receiving state receive those signals.

Similarly, 60 communication units ZS, θS, NS
When transmitting a feedback signal to the communication control unit 314, the high-frequency carrier wave is modulated by the feedback signal to be transmitted, and the bidirectional serial high-speed communication unit 326.
In, demodulation is performed. At the time of transmitting the feedback signal, first, a ringing signal is transmitted to the communication control unit 314, and if a receivable signal is returned from the communication control unit 314 in response, a transmission source signal indicating the transmission source is added to the head of each feedback. A signal is transmitted to the communication control unit 314, and the communication control unit 314 sends each feedback signal to the 60 communication units Z.
The S, θS, and NS are configured to be separately received. In the present embodiment, the feedback signal indicating the end of switching is also transmitted from the communication section VS of the 20 electromagnetic directional control valves 186, but this is not essential. Also in the communication section VS, a high frequency carrier wave is modulated by the feedback signal to be transmitted, and demodulated in the bidirectional serial high speed communication section 326.

Further, the voltage controller 331 also includes a communication section S.
₃₃₁ is provided. Since a large number of actuators are mounted on the index rotor 22 side and a considerable number of these may be operated at the same time, the voltage of the power receiving side coil 354 is detected, and the contactless information transmission device 316 is detected.
After that, it is fed back to the high frequency induction power generation controller 328. Also in the communication section _S331 , a high frequency carrier wave is modulated based on the feedback signal and demodulated in the bidirectional serial high speed communication section 326.

In the present electronic component mounting apparatus, the index rotor 22 is rotated intermittently, and the component mounting heads 80 of the 20 component mounting units 24 are sequentially mounted on the electronic components 2.
38 is adsorbed and mounted on the printed circuit board 30. that time,
The component suction nozzle 220 is selected in each of the 20 component mounting heads 80, and each component suction nozzle 2
The height and rotational position of 20 are controlled so that the position information from the Z-axis detector 118, the θ-axis detector 136 and the nozzle selection detector 280 is also supplied to the machine controller 310. It has become.

However, in general, when assembling a position detector for detecting the rotational position of the servo motor, it is not easy to assemble them so that the origin positions of both are accurately matched. Therefore, the Z-axis detector 118, θ
The output values of the axis detector 136 and the nozzle selection detector 280 accurately represent the height (position in the axial direction) of the component suction nozzle 220,
It cannot be said that the rotational position and the rotational position of the component mounting head 80 around the horizontal line are represented.

Since the component suction nozzle detection device described above detects which component suction nozzle 220 is currently selected in each component mounting head 80, the nozzle selection servomotor 260 always operates the component suction nozzle currently selected. It suffices that the nozzle 220 and the component suction nozzle 220 to be selected next be rotated by an angular interval, and the deviation between the origin position of the nozzle selection detector 280 and the origin position of the component mounting head 80 does not matter.

On the other hand, since a device for detecting the absolute height and the absolute rotational position of the component suction nozzle 220 is not provided, these controls are performed only by the detection results of the Z-axis detector 118 and the θ-axis detector 136. Therefore, the deviation between the origin position of the Z-axis detector 118 and the θ-axis detector 136 and the origin position of the height of the component suction nozzle 220 and the origin position of the rotation position becomes a problem.

However, with respect to the θ-axis detector 136, a certain degree of assembly error is allowed. Positioning the component mounting head 80 at the origin position of rotation about the vertical axis for the convenience of detection of the component suction nozzle 220 currently selected by the component suction nozzle detection device, that is, the component suction nozzle 220 at the origin position of rotation. However, the required accuracy is not so high. Further, since the electronic component 238 sucked by the component suction nozzle 220 is imaged by the image pickup device and the rotational position shift as well as the center position shift is corrected, the mounting is performed, so from the viewpoint of component mounting accuracy, the θ-axis detector. This is because the deviation of the origin position of the rotation between 136 and the component suction nozzle does not matter.

Therefore, in the present electronic component mounting apparatus,
Only the Z-axis detector 118 is provided with an assembly error countermeasure. After the completion of the assembly of the electronic component mounting apparatus, the inspection nozzle model which replaces the component suction nozzle 220 is attached to the 20 component mounting heads 80, and the component mounting head 80 positioned at the component suction position is attached to the suction nozzle of the inspection nozzle model. Two
The portion corresponding to 34 is lowered until it abuts against the reference surface and stops, and the detection value of the Z-axis detector 118 at that position is the original position of the component mounting head 80 in the Z-axis direction (height direction) and Z-axis detection. A non-volatile memory (R) of the machine controller 310 is used as an original position value A representing the amount of deviation from the origin of the device 118.
OM, backup RAM, external storage device, etc.).

The nozzle model for inspection has a shape similar to the component suction nozzle 220, but the component mounting head 80
It is provided with a flange that abuts against the end face of the and a fixing screw that fixes the nozzle model for inspection to the component mounting head 80 in the abutting state of the flange, and is attached to the component mounting head 80 immovably in the axial direction. Also, the reference plane is
Specifically, it is the component holding tape support surface of the component supply cartridge located at one end in the moving direction of the moving table among the plurality of component supplying cartridges attached to the moving table. Height error between component holding tape support surfaces of a plurality of component supply cartridges, and each component suction nozzle 2
The length error between 20 is ignored because it is small. When the error of at least one of these is large enough to be ignored, it is necessary to detect them and store them in the memory (for example, RAM) of the machine controller 310.

The data of the original position value A stored in the machine controller 310 is used as follows. However, here, in order to facilitate understanding, the cylindrical cam 1
It is assumed that the component suction nozzle 220 is not moved up and down by 0. Since the focus position and the position of the printed circuit board supporting surface of the image pickup apparatus described below are determined in consideration of the raising and lowering of the component suction nozzle 220 by the cylindrical cam 10, the raising and lowering of the component suction nozzle 220 by the cylindrical cam 10 is performed by the Z-axis servo. This can be considered without affecting the up-and-down control of the component suction nozzle 220 by the motor 86. For example, the component mounting station is provided below the component suction station, and the heights of the reference surface and the printed circuit board supporting surface of the substrate supporting elevating device are different from each other. Are absorbed by being moved up and down along the cam groove 76. Therefore, when viewed from the Z-axis detector 118, the printed circuit board supporting surface and the reference surface are located at the same height.

When the component is picked up, the component mounting head 80 is
The suction pipe 234 is further moved down a small distance from the state in which the suction pipe 234 is in contact with the electronic component 238. Even if there is a manufacturing error in the electronic component 238, the component holding tape, or the like, the electronic component 238 can be reliably
This is done so that the suction tube holder 232 and the nozzle holder 218 are connected to the spring 2.
It is allowed by compressing 40 and moving relatively. However, it is desirable that this descending distance be as small as possible. For example, in order to prevent the electronic component from being damaged by the impact when the suction pipe 234 contacts the electronic component, the descending speed of the component mounting head 80 is reduced before the suction pipe 234 contacts the electronic component 238. It is usually done,
This is because if the low-speed moving distance is large, the component mounting efficiency is reduced.

Therefore, in this embodiment, the component mounting head 80 is schematically illustrated in FIG.
34, the output value of the Z-axis detector 118 is the original position value A and a value T'corresponding to the thickness T of the component holding tape,
A value (A + C '+) obtained by subtracting a value B'corresponding to the relative movement distance B between the nozzle holder 218 and the suction tube holder 232 from the value obtained by adding the value C'corresponding to the thickness C of the electronic component 238.
T'-B '), and the descending speed is reduced from a certain small distance before the descending end position. Such a command value is supplied from the machine controller 310 to the actuator control circuit 312.

After the component is picked up, the component mounting head 80 is raised by the distance L (this position is referred to as the raising end position) and is moved to the image pickup position by the rotation of the index rotor 22. The reason why the suction pipe 234 and the electronic component 238 are raised to the rising end position is to avoid collision with the peripheral members during movement. From this point of view, it is desirable that the rotation of the index rotor 22 is started after the component mounting head 80 is raised to the rising end position. However, in the present embodiment, from the viewpoint of improving efficiency, the rising end is increased. The rotation of the index rotor 22 is started before it is completely raised to the position. Similarly, from the viewpoint of improving efficiency, the component suction nozzle 220 is set to the electronic component 23.
When 8 is sucked, the component mounting head 80 is started to descend before the index rotor 22 has been intermittently rotated.

In the component holding posture detecting station, the component mounting head 80 has the lower surface of the electronic component 238 held by the component suction nozzle 220, and the CCD of the image pickup device.
It is lowered to a height that coincides with the focus of the camera (for example, a position at a distance L / 2). For that purpose, the Z-axis detector 1
The output value of 18 is L / 2 in the original position value A and the electronic component 2
It is necessary to rotate the Z-axis servomotor 86 to a position where a value (A + (L / 2) '+ C'} obtained by adding values (L / 2) 'and C'corresponding to the thickness C of 38 is shown. , This value {A + (L / 2) ′ + C ′} is supplied from the machine controller 310. After imaging, the component mounting head 80 is once raised to a position separated from the reference plane by a distance L. The elevation of the component mounting head 80 is performed in parallel with the intermittent rotation of the index rotor 22.

Then, the component mounting head 80 is lowered at the component mounting station to mount the electronic component 238 on the printed circuit board 30. At the time of component mounting, the component mounting head 80 causes the output value of the Z-axis detector 118 to be the original position value A, a value P ′ corresponding to the thickness P of the printed circuit board 30, and a value C corresponding to the thickness C of the electronic component 238. A value (A + P ′ +) obtained by subtracting a value B ′ corresponding to the relative moving distance B between the nozzle holder 218 and the suction tube holder 232 from the value obtained by adding
C'-B ') should be lowered to
This command value is supplied from the machine controller 310. After mounting, the component mounting head 80 is separated from the reference plane by a distance L.
Raised to a remote location. Index rotor 22
The component mounting head 80 is started to descend before the components are intermittently rotated, and the index rotor 22 is started to be rotated before the component suction nozzle 220 is fully raised to the ascending end position. Is the same.

Each of the above command values includes the original position value A, and since the original position value A is stored for each of the 20 sets of component mounting units 24, the component suction nozzles 220 of all the component mounting units 24 are stored. The descending position of is controlled without being affected by the assembly error of the Z-axis detector 118. The component mounting head 80 has six component suction nozzles 220, and the tip surfaces of the suction pipes 234 of these component suction nozzles 220 are located on one circle with the rotation axis of the nozzle holder 218 as the center line. Therefore, it is not necessary to change the instruction value for each component suction nozzle 220.

The operation of this electronic component mounting apparatus will be described below. When mounting the electronic component, the index rotor 22 is rotated intermittently, and the component mounting heads 80 of the 20 component mounting units 24 sequentially adsorb the electronic component 238 and mount it on the printed circuit board 30. When picking up the electronic component 238, the component mounting head 80 moves the Z-axis / θ-axis drive motor 84.
Thus, the output value of the Z-axis detector 118 is lowered until it matches the command value from the machine controller 310, and the suction pipe 234 of the component suction nozzle 220 is brought into contact with the electronic component 238.

After the suction pipe 234 is brought into contact with the electronic component 238, the electromagnetic directional control valve 186 is switched to supply a negative pressure to the component suction nozzle 220 and the electronic component 238 is sucked. After the suction, the component mounting head 80 is raised to the rising end position, and it is detected at the component standing posture detection station whether or not the electronic component 238 sucked by the component suction nozzle 220 is standing.

When the electronic component 238 is mounted on the printed circuit board 30 while being rotated from the state where the electronic component 238 is sucked by the component suction nozzle 220, the component mounting unit 24
The component mounting head 80 is moved from the component standing posture detection station to the component holding posture detection station.
Is rotated by the θ-axis servo motor 88, and the electronic component 238 is placed in a posture suitable for mounting.

Next, the component mounting unit 24 is moved to the component holding posture detecting station, and the holding posture of the electronic component 238 of the component suction nozzle 220 is imaged. The component mounting head 80 moves from the component standing posture detection station to the component holding posture detection station,
The Z-axis detector 118 is lowered to a position where the value indicated by the machine controller 310 is indicated. Therefore, at the time of image capturing, regardless of the type, the electronic component 238 has its lower surface positioned at a distance L / 2 away from the CCD camera, and is imaged without defocusing.

The component mounting head 80 is once raised and rotated by the θ-axis servomotor 88 until the component mounting head 80 is moved to the component mounting station after the image pickup, the rotational position error Δθ _E of the electronic component 238, the printed circuit board 30. The rotational position error Δθ _{P of} is corrected. Further, the printed circuit board moving device 32 moves the printed circuit board 30 to a position corrected by the central position errors ΔX and ΔY with respect to the regular position. Then, at the component mounting station, the component mounting head 80 moves the Z-axis servomotor 8
6, the Z-axis detector 118 is changed to the machine controller 31.
The electronic component 238 is mounted on the printed circuit board 30 by being lowered to a position indicating the command value (A + P ′ + C′−B ′) supplied from 0.

After mounting, the component mounting head 80 should be raised.
And the θ-axis support before moving to the parts discharge station.
It is rotated by the servo motor 88 and returned to its original position.
It Rotational position error Δθ of electronic component 238_EAnd pudding
Rotational position error of substrate 30 Δθ _PRotate to fix
After mounting the angle and the electronic component 238,
Rotate the component mounting head 80 to obtain a posture suitable for
When it is turned on, the component mounting head 80 reverses by the angle.
It is rotated and returned to its original position. Electronic department
The product 238 is sucked by the component suction nozzle 220 in a standing posture.
If the electronic component 238 is worn, the electronic component 238
Is discharged at the same time.

Next, in the component suction nozzle detection station, the type of the component suction nozzle 220 positioned at the component suction position is detected. This detection result is supplied to the machine controller 310, and the machine controller 3
10 is a nozzle selection servomotor 26 based on the information.
The actuator control circuit 3 outputs the command information regarding the driving of 0.
Supply to 12. When the component suction nozzle 220 used for mounting the electronic component 238 is changed, the nozzle holder 2
Information indicating the rotation amount of the nozzle 18, that is, a command value indicating the amount of change in the detection value of the nozzle selection detector 280 is supplied.
Nozzle selection servo motor 260 until the component mounting unit 24 is moved to the component suction confirmation station.
Thus, the nozzle holder 218 is rotated, and the component suction nozzle 220 to be used next is positioned at the component suction position.

In the component suction nozzle confirmation station, the component suction nozzle 22 positioned at the component suction position
0 is detected, and the component suction nozzle 2 detected in the actuator control circuit 312 based on the detection result.
It is determined whether the 20 types match the types of the component suction nozzles 220 used to mount the electronic components 238. If they do not match, a command indicating the amount of change in the detection value of the nozzle selection detector 280 in order to rotate the nozzle holder 218 and position the component suction nozzle 220 used for suctioning the electronic component 238 at the component suction position. Value is supplied.

As described above, in this embodiment, the Z-axis / θ-axis drive motor 84 for rotating and moving the component mounting head 80 about the vertical line is provided for each of the component mounting heads 80 and mounted on the index rotor 22. The nozzle selection servomotor 260 and the electromagnetic directional control valve 186 are also mounted on the index rotor 22. Therefore, the actuator can be operated as necessary even while the index rotor 22 is rotating,
It is easy to improve work efficiency. Moreover, since electric energy is supplied without contact and information is transmitted,
An electronic component mounting device having excellent durability and long life can be obtained.

Further, in the present embodiment, the electric energy is supplied to the 20 sets of component mounting units 24 through the common contactless power supply device 330, so that the device cost can be reduced. In this case, it is necessary to separately supply the control command information to each of the 80 actuators, but in the present embodiment,
Since the contactless information transmission device 316 for that purpose is also common to all actuators, the device cost can be further reduced. For example, if the electric energy is supplied to each of the plurality of sets of component mounting units by separate power lines, the electric energy supplied to the power line on the apparatus main body side is controlled so that each electric power of the plurality of sets of component mounting units is controlled. Although the actuator can be operated, the power line is required for the number of component mounting units, and the larger the number of component mounting units, the more complicated the configuration of the device. Also, if the electric energy is commonly supplied to each of the plurality of sets of component mounting units and the operation information is supplied to each actuator by a dedicated information transmission line, the number of power lines can be reduced. The contact information transmitting device 316 is required for the number of actuators, but in the present embodiment, they are also shared.

As is clear from the above description, in the present embodiment, the index rotor 22 constitutes a rotating body which is a kind of moving body, and the driven gear 12, the index servomotor 16, and the driving gear 18 move. The θ-axis servomotor 88, which is a kind of an electric motor for head rotation, constitutes a body moving device, and the Z-axis servomotor 8 which is a kind of electric motor for head movement, which constitutes a component mounting head rotation driving device.
6 constitutes a component mounting head advancing / retreating device, the electromagnetic directional control valve 186 constitutes a negative pressure supply control device, the nozzle selection servomotor 260 constitutes a component suction nozzle selection device, and the control drive units ZC, θC, NC. , VC constitute an actuator control device. Further, the ball screw 100 constitutes a male screw member, the permanent magnets 102 and 130 constitute a rotor, the spline member 120 constitutes a rotor, and the spline shaft 126 constitutes a rotary shaft.

As another embodiment of the control circuit for the Z-axis servo motor 86, the θ-axis servo motor 88 and the nozzle selection servo motor 260 on the index rotor 22, FIG.
3 shows a control circuit of the Z-axis servo motor 86 as a representative.
In this control circuit, what is supplied from the frame side to the index rotor 22 side through the non-contact information transmission device 316 is the target position signal indicating the target rotation position of the Z-axis servomotor 86 and the rotation speed indicating the steady rotation speed. The signal is supplied from the index rotor 22 side to the frame side through the non-contact information transmission device 316 to rotate the Z-axis servomotor 86 to a target rotational position (strictly, a position within an allowable error range). Operation end information indicating that the
Abnormality information indicating an abnormal operation of the Z-axis servomotor 86 and the like.

On the index rotor 22, an intelligent control section 404 having a computer 400 and a D / A converter 402 is provided. Computer 4
00 is a speed control pattern including acceleration at startup of the Z-axis servomotor 86, steady rotation, and deceleration at braking based on the target position command value and the rotation speed command value supplied via the non-contact information transmission device 316. To decide. Computer 4
00 is an electronic multi-rotation absolute encoder 40 which is a kind of pulse generator as a Z-axis detector.
6 is supplied, the computer 400 causes the speed control pattern and the Z-axis servomotor 86 determined above to be determined.
The momentary torque command value is determined on the basis of the digital value indicating the rotational position of.

The electronic multi-rotational absolute encoder 406 includes an incremental encoder 408 and a pulse counter 410. The incremental encoder 408 issues a pulse signal having a 90-degree phase difference as the Z-axis servomotor 86 rotates, and issues one origin signal at the origin position. The pulse counter 410 combines the pulse signal and the origin signal. Count the number of each. The count value is increased when the incremental encoder 408 is rotated in the forward direction, and is decreased when it is rotated in the reverse direction. The electronic multi-rotation absolute encoder 406 uses a battery as a power source, is in an operating state even when the main power supply of the electronic component mounting apparatus is cut off, and the output value of the pulse counter 410 is always the absolute rotation position of the Z-axis servomotor 86. Is represented.

The torque command value from the computer 400 is converted into a torque command signal which is an analog signal by the D / A converter 402 and supplied to the current command generator 384. An F / V converter 412 that converts the frequency of the pulse signal from the incremental encoder 408 into a voltage is connected to the current command generator 384.
A current command signal is generated based on the voltage corresponding to the rotation speed of the shaft servo motor 86 and the torque command signal. Since the control thereafter is the same as that of the above-mentioned embodiment, the explanation is omitted.

In the above-described embodiment, the machine controller 310 has a function of determining the speed control pattern of each servo motor, and the command signal corresponding to the target rotational position that changes every minute time according to the speed control pattern is used as the position signal. While it is supplied to the amplifier 320, in the present embodiment, the computer 4 of the intelligent controller 404 has a function of determining the speed control pattern.
It is given to 00. Therefore, the information supplied from the frame side through the non-contact information transmission device 316 is only the final target rotational position of the Z-axis servomotor 86 and the steady rotational speed at the time of reaching it. Since the information supplied from the 22 side is only the operation end information and the abnormality information, the number of times of information transmission is small, and there is an advantage that the time during which the machine controller 310 can perform processing other than information transmission increases. It should be noted that the Z-axis servomotor 8 of the electronic multi-rotation absolute encoder 406 is performed after the assembly of the electronic component mounting apparatus of this embodiment is completed.
6 is detected, the original position value A from the electronic multi-rotation absolute encoder 406 passes through the non-contact information transmission device 316 and the machine controller 3 on the frame side.
10 are supplied.

Communication between the communication control unit 314 and each communication unit ZS, θS, NS, VS in this embodiment is performed as follows. In the machine controller 310, the information transmission process is performed at fixed time intervals and during a time period sufficiently shorter than the time interval (referred to as communication allowable time). Therefore, the communication control unit 314 and each communication unit ZS, θS, NS,
Communication for information transmission with the VS is also performed within the communication allowable time. If there is information to be transmitted within the communication allowable time, information is first supplied from the communication control unit 314, and then operation end information and abnormality information are supplied from each communication unit ZS, θS, NS, VS. Is done. Strictly speaking, in this embodiment, semi-bidirectional communication is performed.

When information is supplied from the communication control unit 314,
First, a signal representing the destination is transmitted based on the address code added to the beginning of the information supplied from the machine controller 310, and 80 communication units ZS, θS, NS,
One of the VSs corresponding to the destination is in the reception state and returns a receivable signal to the communication control unit 314. In response to this, the communication control unit 314 supplies information on the target rotational position of the servo motor and the steady rotational speed when it reaches the target rotational position. Information for error checking is also added to this information. There is. That is, the machine controller 310
However, the communication control unit 314 adds a code for error check (for example, a cyclic code obtained by processing the data in the data block with a specific binary polynomial) to the data of the target rotation position and the steady rotation speed. The redundancy check (for example, cyclic redundancy check CRC) is performed. Therefore, each communication unit ZS, θS, N
After receiving the motor control information from the communication control unit 314, the S and VS perform a redundancy check, and return information indicating whether or not the information is properly received to the communication control unit 314.

Among the communication units ZS, θS, NS and VS, the one corresponding to the servo motor which has finished its operation or has caused an operation abnormality after the last communication allowable time has passed from the communication control unit 314. A signal for calling the communication control unit 314 is transmitted after the end of the communication, and the operation end information and the abnormality information are transmitted together with the signal indicating the start source after the signal indicating the receivability is returned from the communication control unit 314 accordingly. .

The communication control unit 314 and each communication unit ZS, θS,
All communication with NS and VS is performed by a code signal such as ASCII code through the contactless information transmission device 316.
The parallel code signal is converted into a serial code signal by the parallel / serial converter, and the serialized code signal is amplitude-modulated or frequency-modulated and wirelessly transmitted by the contactless information transmission device 316, and later demodulated. The serial / parallel conversion is performed and the parallel code signal is restored.

In this embodiment, the communication control section 314 supplies information on the final target rotational position of the servomotor and the steady rotational speed at the time of reaching it, and based on this, intelligent control on the index rotor 22 is performed. Part 40
4 determines the speed control pattern and controls the servo motor according to the pattern, but the control pattern is determined on the frame side, and the target position command value of the servo motor for each minute time is communicated based on the determination. Control unit 31
4 may be supplied. In this case, the intelligent control unit 40 is installed on the index rotor 22.
Instead of 4, it is desirable to provide a smoothing device that creates a signal representing a smoothed target rotational position that is obtained by smoothing the target rotational position that changes stepwise every minute time, but simply omits the intelligent control unit 404. Is also possible. Also,
It is necessary that the output value of the electronic multi-rotation absolute encoder 406 be supplied from the index rotor 22 side to the frame side via the non-contact information transmission device 316.

In the above embodiment, each communication unit Z
When there is information to be supplied from S, θS, NS, VS to the communication control unit 314, each communication unit ZS, θS, NS, V
S was supposed to call the communication control unit 314,
Every time information is supplied from the communication control unit 314 to any one of the communication units ZS, θS, NS, VS, the communication control unit from the communication units ZS, θS, NS, VS that received the information following the information transmission. It is also possible to supply information to 314, that is, information that informs of an abnormality that has occurred during the completion of the movement to the previously commanded target rotational position or the rotation to the target rotational position. In this way, each communication unit ZS, θS, N
It is not necessary to give the function of calling the communication control unit 314 to S and VS, and there is an advantage that the communication system can be simplified. However, as in the previous embodiment, from the communication control unit 314 to the final target rotational position of the servo motor. In the case where the information supply frequency from the communication control unit 314 is low, as in the case where the information on the stationary rotation speed is supplied, the communication units ZS, θS, N.
Since the information supply from S and VS to the communication control unit 314 is delayed and the operation status of each actuator by each machine controller 310 is delayed, the target rotational position command value of the servo motor for each minute time is communicated as described above. Control unit 31
This is suitable for the case where information is frequently supplied from the communication control unit 314, as in the case where the information is supplied from No. 4.

The contactless information transmitting device 316 in each of the above embodiments can be changed to a contactless information transmitting device by optical communication. Further, in each of the above-described embodiments, the component mounting head 80 is moved up and down by the cam, and there is a difference between the height of the electronic component supply position of the component supply cartridge, the height of the board supporting surface that supports the printed circuit board, and the height of the imaging device. Although it is designed to be absorbed, the Z-axis / θ-axis drive motor 84 may be moved up and down instead of the cam to absorb the height difference. Further, the Z-axis servo motor and the θ-axis servo motor may be configured separately.

Furthermore, in each of the above-described embodiments, the tip positions of the six component suction nozzles 220 provided on the component mounting head 80 are located on a circle around the rotation axis of the nozzle holder 218. However, this is not essential, and the component suction nozzles may be held by the nozzle holder so as to be positioned on different circumferences. If necessary, the command value for instructing the descending end position of the component mounting head is corrected every time the component suction nozzle used for sucking the electronic component is changed.

In addition, when the electronic component is mounted by rotating it by an angle larger than 90 degrees from the posture at the time of suction, after the component is sucked,
It is also possible to first rotate 90 degrees before the holding posture is imaged, and to rotate the component mounting head to correct the rotational position error and then rotate the remaining angles after the image capturing until the mounting. Further, in each of the above-described embodiments, the moving body is a rotating body which can be rotated around one axis, but it may be linearly moving.

Further, although 20 sets of component mounting heads are provided in each of the above embodiments, the present invention is also applied to an electronic component mounting apparatus provided with only one component mounting head having two or more electric actuators. be able to. Further, the present invention can be applied to an electric motor that moves and rotates a device other than the component mounting head. Besides, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art without departing from the scope of the claims.

[Brief description of drawings]

FIG. 1 is a front sectional view schematically showing an electronic component mounting apparatus according to an embodiment of the present invention .

FIG. 2 is a perspective view showing the electronic component mounting device together with a printed circuit board moving device.

FIG. 3 is a diagram schematically showing a station at which a component mounting unit of the electronic component mounting apparatus stops.

FIG. 4 is a front sectional view showing a component mounting head that constitutes a component mounting unit of the electronic component mounting apparatus.

FIG. 5 is a front view (partial cross section) showing a connecting portion between the component mounting head and a Z-axis / θ-axis drive motor.

FIG. 6 is a front sectional view showing the Z-axis / θ-axis drive motor.

FIG. 7 is a front view showing a component mounting head of two adjacent component mounting units of the electronic component mounting apparatus.

FIG. 8 is a diagram showing a configuration of electric energy, information transmission to a component mounting head and control of an actuator in the electronic component mounting apparatus.

FIG. 9 is a control circuit diagram of a servo motor in the electronic component mounting apparatus.

10 is a diagram showing the high frequency induction power generation controller shown in FIG. 9 together with a rectifier circuit.

11 is an enlarged front sectional view of the contactless power supply device and the contactless information transmission device shown in FIG.

FIG. 12 is a diagram for explaining the raising and lowering of the component mounting head in the electronic component mounting apparatus.

FIG. 13 is a control circuit diagram of a servo motor in an electronic component mounting apparatus according to another embodiment of the present invention .

[Explanation of symbols]

12 Driven gear 16 Index servo motor 18 drive gear 22 Index rotor 24 parts mounting unit 80 Parts mounting head 84 Z-axis / θ-axis drive motor 100 ball screw 108 permanent magnet 110 stator core 120 Ball spline member 126 spline shaft 128 permanent magnet 134 Stator core 146 coupling device 186 Electromagnetic directional control valve 220 Parts suction nozzle 238 electronic components 260 nozzle selection servo motor 306 power supply 310 Machine controller 312 Actuator control circuit 316 Contactless information transmission device 330 Non-contact power feeding device 404 Intelligent control unit 406 Electronic multi-turn absolute encoder

Continuation of the front page (56) Reference JP-A-6-140256 (JP, A) JP-A-5-316003 (JP, A) JP-A-2-69999 (JP, A) JP-A-63-305614 (JP , A) (58) Fields investigated (Int.Cl. ⁷ , DB name) H05K 13/04

Claims (2)

(57) [Claims] 1. An apparatus main body, a moving body movably supported by the apparatus main body, a moving body moving device for moving the moving body, and a mounting target material mounted on the moving body such as a printed circuit board. A component mounting head for mounting an electronic component, and a component mounting head rotation driving device for rotating the component mounting head around its axis, and a component mounting head for moving the component mounting head back and forth in a direction parallel to the axis. Device, negative pressure supply control device for controlling supply and interruption of negative pressure to the component suction nozzle of the component mounting head, and component suction for selecting one of a plurality of component suction nozzles mounted on the component mounting head An electronic component mounting device including at least one kind of nozzle selection device, wherein at least two or more of the actuators are operated by electric energy. An electric actuator that, they 2
One or more with each of the electric actuator, respectively and each braking <br/> Gosuru actuator control apparatus is mounted on the movable body, fixedly power is provided for the apparatus main body, and device One contactless power supply device for supplying the electric energy of the power source to each of the actuator control devices in a contactless manner between the main body and the moving body, and an electronic component mounting device fixedly provided to the device main body. One contactless information transmission device for contactlessly transmitting information necessary for controlling each of the electric actuators between the control device and each of the actuator control devices is provided , and in each control of the electric actuators, , The electric
Which of the child component mounting control devices to control
The destination signal is transmitted and the actuator control
Each of the control devices has a unique destination signal.
Only when there is a certain condition, the reception state can be set.
An electronic component mounting device characterized in that each of the dynamic actuators is individually controllable . 2. The power source, the contactless information transmission device
Power receiving side of the contactless power feeding device fed back through
Claim control means provided et the controlled based on the voltage
1. The electronic component mounting device according to 1.